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<article data-uid="Release-Upgrading-ResultsThatChange">
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<h1 id="results-that-change-on-upgrade">Results that change on upgrade</h1>
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<p>None of the following breaks a build. All of them change what a simulation produces, so a
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byte-for-byte comparison against 3.1.175 output will differ — usually because 3.1.175 was wrong.</p>
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<p><strong>Silent wrong geometry, now fixed.</strong> Each of these produced a plausible-looking simulation of the
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wrong thing.</p>
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<ul>
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<li><strong>The kinematic pivot anchor.</strong> The pivot-transform chain entry was built as <code>K(0)·K(abc)⁻¹</code>,
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folding the whole machine-zero forward kinematic — its linear part included — into the pre-pivot
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anchor. That linear part encodes each axis' motion sense and tool/workpiece-side ownership, so it
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mirrored the program components of every workpiece-side linear axis before the IK ran. On a
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table-side chain whose machine-zero linear part is <code>diag(1,1,-1)</code>, every program Z was mirrored and
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a near-180° swing amplified it into metres of machine-Z error, floating the toolpath above the
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workpiece. The anchor is now the translation alone, matching what HardNc has always kept. Machines
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whose linear axes all ride the tool side are unaffected.</li>
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<li><strong>G68 2D coordinate rotation was a silent no-op.</strong> <a class="xref" href="../../api/Hi.NcParsers.LogicSyntaxs.TiltTransformUtil.html">TiltTransformUtil</a>
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judged the active mode from the current block but always took the matrix from the previous one, so
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every G68 activation past the first block had its freshly authored rotation overwritten with an
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identity that then propagated. G68 rotation did nothing at all while the block's term still read
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<code>G68</code>, and the simulation machined the unrotated pattern. Re-running an existing G68 program now
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gives different — correct — geometry.</li>
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<li><strong>A blank line reset G90/G91.</strong> A piece with no parsing section — a blank line, a comment-only line,
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<code>%</code>, an O-number — left the next block's single-step lookback empty, and it fell back to the G90
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default. A program that was incremental throughout silently flipped to absolute mid-file. Such
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pieces now carry the positioning section forward like every other modal syntax.</li>
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<li><strong>A Siemens D offset with no <code>$TC_DP</code> row resolved to zero length, in silence.</strong> A whole TRAORI
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program machined one tool length low. The read point now falls back to the generic tool-number-keyed
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height and emits <code>SiemensToolOffset--TcdpRowMissing</code>.</li>
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<li><strong>G43.4 with an unresolvable H word activated RTCP with a zero-length tool.</strong> It now reports
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<code>Comp-ToolHeight--001</code> as a warning and keeps processing the block. An absent H stays silent —
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re-activating G43.4 on the modal offset id is legitimate input.</li>
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<li><strong>Heidenhain DIN/ISO arc centres.</strong> <code>I</code> / <code>J</code> / <code>K</code> are <strong>absolute</strong> circle centres on Heidenhain —
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the ISO face of the klartext <code>CC</code> pole — not start-to-centre offsets. Reading them incrementally
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turned arcs into near-full phantom circles. Fixed in all three engines: the HardNc reader
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(<a class="xref" href="../../api/Hi.Numerical.NcArgs.ArcNcArg.html#Hi_Numerical_NcArgs_ArcNcArg_IsIjkAbsolute">IsIjkAbsolute</a>), the SoftNc reader
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(<a class="xref" href="../../api/Hi.NcParsers.LogicSyntaxs.CircularMotionSyntax.html#Hi_NcParsers_LogicSyntaxs_CircularMotionSyntax_IsIjkAbsolute">IsIjkAbsolute</a>) and the optimizer's write-back.
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<code>G91</code> is the exception: an incremental block switches the words back to start-to-centre offsets, so
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an arc programmed under <code>G91</code> is unaffected by this change. Also delivered on the 3.1.175.x service
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line.</li>
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<li><strong>Feed per tooth, MRR and cutting forces follow the equipped tool's tip, not the controller's F
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word.</strong> The physics used to read the commanded CL feedrate. It now reads the step's real tip
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feedrate (<a class="xref" href="../../api/Hi.MachiningSteps.MachineMotionStep.html#Hi_MachiningSteps_MachineMotionStep_ActualTipFeedrate_mmds">ActualTipFeedrate_mmds</a>, client key
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<a class="xref" href="../../api/Hi.MachiningSteps.MachiningStep.html#Hi_MachiningSteps_MachiningStep_ActualTipFeedrate_mmdmin">ActualTipFeedrate_mmdmin</a>): the tip's displacement relative
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to the workpiece over the step duration. On XYZ moves, CL files and RTCP with the equipped tool's own
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offset the two agree (the recomputation moves forces by at most about 1e-4 relative, from the
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<code>TimeSpan</code>-quantised step duration); they part under RTCP with a tool-length offset that does not
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describe the equipped tool, on rotary-axis-limited simultaneous five-axis blocks (the tip is slower
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than F, up to a few percent), and wherever the commanded value was stale. One such stale case is
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fixed alongside: a feed block that repeats the current position (<code>X.. Y.. Z.. F1600.</code> right after
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the same point at <code>F800.</code>) lost its F word, so every following block showed and cut at the old
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feed; its <code>ActFeedrate</code> now lands.</li>
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<li><strong>A <code>K0</code> word on a HardNc G02/G03 saturated the turn count.</strong> Under the default G17 plane a
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written-but-zero plane-normal word divided the axial travel by zero, the additional-turn count
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saturated to <code>int.MaxValue</code>, and one arc block became a spiral act of roughly 302 simulated years —
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the play appeared to hang on a single NC line. The reading now falls back to the closed-circle rule
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for a zero pace, matching the guard the SoftNc side already had.</li>
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<li><strong>Indexed-rotary programs folded the pivot into plain moves.</strong> A block with no active G68.2 or
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G43.4 no longer folds the kinematic pivot transform into a plain XYZ move, which is what a real
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controller does with a table-side rotary program.</li>
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<li><strong>The radius-compensation arc transient cache landed on the wrong block.</strong> Any non-motion line
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between the corner and the arc orphaned the cache, so the arc lost its leading linear bridge and
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began at the corner intersection instead of on the offset arc.</li>
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<li><strong>Cutter radius compensation on G18 / G19 ran out of the plane.</strong> Both engines built the
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perpendicular as <code>Z × axis</code> whatever plane was selected, so under G18 or G19 the whole offset went
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one radius along the plane normal (a <code>G41</code> region in the ZX plane was displaced in Y), every arc of
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the region reported <code>Arc-EndpointOffRadius</code>, and the <code>RadiusComp--Interference</code> gate could not fire
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there. Both engines now take the perpendicular, the in-plane test for blocks without movement and
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the interference gate from the selected plane: the offset lies in the plane, left/right is judged
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looking down the plane's positive normal (the same convention that orients G02/G03), and the
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diagnostics behave as on G17. G17 programs are unaffected.</li>
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<li><strong>The G68.2 tool-axis IK fallback probed the mirrored tool axis.</strong> Both normal-only fallbacks in
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<a class="xref" href="../../api/Hi.NcParsers.LogicSyntaxs.IsoG68p2TiltSyntax.html">IsoG68p2TiltSyntax</a> read the transposed third column instead of the
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third row. On the no-hint path this only skewed a warning gate, but the explicit A/B/C path seeds
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its hint blend from that solve, so a machine with fewer than three rotary axes composed a mirrored
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tilted plane.</li>
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<li><strong>A Fanuc <code>WHILE</code> forward jump bound to the wrong <code>END</code>.</strong> Sequential loops idiomatically reuse
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<code>DO 1</code>, so a second <code>WHILE</code>'s falsy-condition exit bound to the <em>first</em> loop's <code>END 1</code> and
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redirected execution to a point before the second <code>WHILE</code> — an unbounded loop the iteration
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watchdog cannot see, because it only ticks on <code>END</code> reverse jumps. The jump now uses the anchored
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label scan the Siemens loop family already used.</li>
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<li><strong>Heidenhain G28 is MIRROR IMAGE, not a reference-point return.</strong> On the Heidenhain preset the
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shared pipeline had been reading it as the Fanuc reference return, so a <code>G28 X</code> block minted a
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phantom rapid to home while the mirror silently vanished. It is now simulated as a program-to-MC
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transform, <code>ReferenceReturnSyntax</code> leaves the Heidenhain logic list, and klartext <code>CYCL DEF 8</code>
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records the same mirror statement so one program mirrors identically in either dialect. <strong>HardNc
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keeps the Fanuc reading</strong>, so the two engines are deliberately divergent on Heidenhain G28 files and
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any parity comparison must account for it.</li>
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<li><strong><code>MathUtil.Convert_inchdmin_To_mmds</code> returned mm/min, not mm/s.</strong> The body multiplied by 25.4 and
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never divided by 60, so a caller trusting the name got a 60× feedrate; the sibling
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<code>Convert_mmdmin_To_mmds</code> divides as its name demands. No shipped path called it — the CL/APT
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feedrate route converts inches-per-minute to mm/min itself — so this changes nothing inside the
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product, but a caller who had compensated for the old behaviour must remove that compensation.</li>
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<li><strong><code>GetRByZ(List<PairZr>)</code> never interpolated.</strong> The list overload looked up its ceiling node with
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the floor lookup, so floor equalled ceiling and the method degenerated into a step function. For a
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sharp cone whose inner-beam Z–R list has no node between apex and rim, that pinned the inner radius
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to 0 across the whole cone face and produced NaN flute vertices — the root cause of the transparent
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cone-tip flute that 3.1.180 addressed at the display layer. It affects every consumer of
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radius-by-Z interpolation, force geometry included.</li>
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</ul>
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<p><strong>Numerical results move even where nothing was renamed.</strong></p>
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<ul>
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<li>Five-axis IK is roughly <strong>1000× tighter</strong>. The rotary solver behind
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<a class="xref" href="../../api/Hi.Numerical.Xyzabc.XyzabcSolver.html">XyzabcSolver</a> now runs coarse→polish: the coarse stage keeps the
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original dot residual so solve success and failure
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semantics are unchanged, then a <code>[dot, cross, rr-per-axis]</code> system polishes. The dot criterion is
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quadratically blind to angle error — an envelope of about 1.4e-3 rad, and the resulting tip error is
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that envelope times the tool length — so adding the cross term restores quadratic convergence and
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drops the envelope to about 1e-6 rad. Failed solves no longer pollute the implicit seed, and the
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measure-zero perfect-saddle case is escaped by a deterministic retry offset instead of by leftover
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seed pollution.</li>
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<li><a class="xref" href="../../api/Hi.Numerical.Acts.ActMcXyzLinearContour.html">ActMcXyzLinearContour</a> steps by <strong>euclidean</strong> tip travel instead of the
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largest per-axis component, so <code>LinearResolution_mm</code> now caps actual tool-tip travel per step and a
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diagonal move produces up to √3× more steps at the same setting.</li>
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<li>The SoftNc pipeline is the default engine.</li>
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<li>Executed <code>SyntaxPiece</code>s freeze to UTF-8 (below), so their <code>JsonObject</code> is a fresh read-only snapshot
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per call rather than a retained live graph.</li>
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<li><code>SyntaxPiece.SentenceIndex</code> becomes a session-global execution-order counter and is no longer
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contiguous per file.</li>
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<li>Repeated NC diagnostics fold into per-run summaries at the run boundaries.</li>
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<li><strong>HardNc tool changes</strong> fire on M06 / Heidenhain <code>TOOL CALL</code> rather than on a changed <code>T</code> word — a
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bare <code>T</code> is magazine pre-selection, and a same-tool M06 still runs the changer cycle — and unset
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<code>HardNcEnv</code> tooling defaults become the three-axis shape (XYZ = NaN, NaN, 0; ABC all NaN). The old
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defaults swung all three rotary axes home on every M06, which no post expects.</li>
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</ul>
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